Diagnosis - perfectly normal! On both counts. It sounds like you had a lucid dream with a fairly low to middlin' level of awareness, which is what you'd expect for an early lucid (by early I mean one of the first ones you've been able to achieve). It takes a pretty high level of awareness in a dream to remember that everyone and everything in it is a creation of your mind - remember, your conscious apparatus is shut down for the most part. It must have come partially online - I suppose that's what causes lucidity, but to be more aware you'd need to do a few things, like a couple of RCs to confirm that you're really dreaming (you didn't mention if you did or not) and then stabilizing. When you're able to do these things in a lucid dream they'll propel you to a much higher level of awareness. And also it's quite common for regular non-lucid dreams to be vivid and to experience powerful tastes, smells and feelings etc.